I'm looking for clarification on loading robot positions

    Good morning everyone,

    I'm sorry initially because my English is zero, and I'm writing with Google Translator.

    I have two types of robots in the company. Two ABBs and a Kawasaki FA10L.

    All are used to carry out large nickel alloy or stainless steel coatings on oil & gas products.

    I have a problem with the Kawasai. Normally I program offline, with the fundamental help of KIDE, but I wanted to further speed up programming as already done for the two ABBs, using external programs to generate the welding paths.

    I can't understand if it is possible to directly modify the coordinates in the XYZ OAT J7 J8 format from outside and import them into the robot.

    I'll give you an example:

    "

    .PROGRAM a_prova03()

    GROUP 1

    RTSET 0

    AC JOINT SPEED9 ACCU4 TIMER0 OX= WX= #[-4.8269,-8.6429,-115.23,49.82,-66.744,-87.2,-0.0027069,0.73781] ;

    AC JOINT SPEED9 ACCU4 TIMER0 OX= WX= #[-38.314,5.2145,-101.85,44.043,-42.541,-60.919,-0.0027069,6.5047] ;

    AC JOINT SPEED9 ACCU4 TIMER0 OX= WX= #[-33.751,8.4409,-115.48,85.245,-42.167,-104.44,-0.0027069,6.5046] ;

    HERE initial.line

    .END

    .TRANS

    initial.row -1004.058594 875.723755 256.887085 -171.743027 161.524780 109.773499 -0.002707 6.504552

    .END

    "

    .PROGRAM a_prova03()

    WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-0.002707,6.504552];

    WC CIR1 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,90];

    WC CIR1 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-180];

    WC CIR1 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,270];

    WC CIR2 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,380];

    WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-0.002707,6.504552];

    WC CIR1 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-0.002707,97.504552];

    WC CIR1 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-0.002707,187.504552];

    WC CIR1 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-0.002707,277.504552];

    WC CIR2 WELD_COND OX= WX= #WS JOINT SPEED9 TIMER0 OX= WX= #[-1004.058594,875.723755,256.887085,-171.743027,161.524780,109.773499,-0.002707,367.504552];

    .END

    then in my software I process the values of the "initial row" variable whose position I have acquired with the robot, generate all the necessary rows, and reload them onto the controller.

    I don't understand if I have to send the quotas in the format #[J1,J2,J3,J4,J5,J6,J7,J8], or I can send them in the format

    X,Y,Z,O,A,T,J7,J8.

    If I send them as joint values it's fine, but in the format xyzoatj7j8 it gives me an error.

    I attach some images to clarify the problem.

    Then maybe it can't be done and I resign myself, but I would like to try to do it, if possible.


    Hello everyone and thank you in advance

    Hi Ruggero

    Hello!

    You are using a BLOCK PROGRAMMING which operates with joint values of points. If you want to work with XYZOAT, you should write your program using AS Programming. In AS program you can operate with both joint and translation points. (Use the AS Language Reference Manual and Arc Welding AS Language Reference Manual)

    Here's a very brief example:

    .PROGRAM test()

    JMOVE #jointpoint

    LMOVE transnonweld

    LWS weldpoint[1]

    C1WC weldpoint[2]

    C2WC weldpoint[3]

    ...

    LWE weldpoint[111]

    LMOVE somepoint

    .END

    Then you can load points like

    .TRANS

    transnonweld X Y Z O A T JT7 JT8....

    weldpoint[1] X Y Z O A T JT7 JT8....

    weldpoint[2] X Y Z O A T JT7 JT8....

    ... and so on

    .END

    In addition you could use AS commands to create the JOINT angles from your cartesians by using the POINT command and then copy the results into the programs (long winded but works well).

    You also have the ability of using motion segments with raw values for example:

    For joint angles:

    JMOVE #PPOINT(x,x,x,x,x,x,x,x)

    LMOVE #PPOINT(x,x,x,x,x,x,x,x)

    For transformation values:

    LMOVE TRANS(x,x,x,x,x,x,x,x)

    JMOVE TRANS(x,x,x,x,x,x,x,x)

    view?usp=sharing

    Good morning everyone,

    with google translator

    Thank you for the information you gave me.

    Now he is finishing welding some parts that have been in production for weeks, but next week the machine will be stopped waiting for the arrival of the new parts to be welded, and in the meantime I will do all the necessary tests, and write to you how it went, or if I need any other tips.

    Hello everyone and thank you very much.

    Hi everyone,

    I managed to understand and make the robot move in the suggested way

    LMOVE TRANS(x,y,z,o,a,t,jt7,jt8)

    JMOVE TRANS(x,y,z,o,a,t,jt7,jt8)

    now I am able to export all the intermediate points from the pose acquired with HERE and store them in variables which I then have to import onto the robot.

    then the following various points must be created, for example, I would need to load them on the robot,

    I just can't upload them.

    I can load the .AS program, but not the created variables.

    I read the manual, I couldn't find any instructions on how to do it.

    Do you have any tips for me?

    Hello everyone, and thanks in advance

    Ruggero

    initial.row -724.773926 898.881226 259.229523 -76.397987 163.608047 24.972513 -8.002661 0.000888

    row1 -724.798828 898.831360 259.280762 -76.400955 163.607758 24.963600 -0.002825 14.282178

    row2 -724.798828 898.831360 259.280762 -76.400955 163.607758 24.963600 -3.002825 64.45

    .

    .

    .

    .

    rowxx -724.769470 898.874512 259.219635 -76.397575 163.607712 24.973305 -8.002542 2694

    and all other pre-calculated positions

    You need to wrap your transformation values as follows if you wish to side load in:

    .TRANS

    initial.row -724.773926 898.881226 259.229523 -76.397987 163.608047 24.972513 -8.002661 0.000888

    row1 -724.798828 898.831360 259.280762 -76.400955 163.607758 24.963600 -0.002825 14.282178

    row2 -724.798828 898.831360 259.280762 -76.400955 163.607758 24.963600 -3.002825 64.45

    .END

    This could be a separate file as well to load in but requires a carriage return after the .END so cursor is flashing on next line before saving.

    Hello and thanks for the info.

    I'll give you an example program, just to help you understand how to do it:

    i.PROGRAM a_prova03()

    GROUP 1

    RTSET 0

    AC JOINT SPEED9 ACCU4 TIMER0 OX= WX= #[-19.813,0.79444,-99.22,50.44,-69.015,-65.69,0.11722,2.6636] ;

    JMOVE pos1

    JMOVE pos2

    JMOVE pos3

    JMOVE pos4

    JMOVE pos5

    AC JOINT SPEED9 ACCU4 TIMER0 OX= WX= #[-19.813,0.79444,-99.22,50.44,-69.015,-65.69,0.11722,2.6636] ;

    .END

    .TRANS

    pos1 -724.758423 898.867554 271.039062 -76.392212 163.607224 24.978659 0.117219 2.663416

    pos2 -624.758423 898.867554 271.039062 -76.392212 163.607224 24.978659 0.117219 12.663416

    pos3-524.758423 898.867554 271.039062 -76.392212 163.607224 24.978659 0.117219 22.663416

    pos4 -424.758423 898.867554 271.039062 -76.392212 163.607224 24.978659 0.117219 32.663416

    pos5 -724.758423 898.867554 271.039062 -76.392212 163.607224 24.978659 0.117219 2.663416

    .END

    initially I do it by teaching for approach and positioning to acquire the first barable pos1, and it does it correctly. Then I save the program with its variables with save /l /p filename=programname.

    The additional points and the related variables with coordinates of the points to be added are added to the program, all included between ".TRANS" and ".END".

    I load the program (I use notepad++ for AS, load the program, doing dir, I see the new variables, but they are preceded by an asterisk.

    To check, I always try to save again with save /l /p filename=programname, and I find the initial program with only the pos1 variable and not the others.

    I'm definitely missing some step and I can't figure out where.

    If you can explain to me how to carry out the step of loading program and variables, you would give me a big hand.

    Hello everyone, and thanks in advance.

    Ruggero from Italy

    Glad to hear you resolved it........... :top:

    Kawasaki controllers check for syntax and correct program, data and structure during the load process and will provide live feedback if errors occur during load.

    I am not sure if Notepad provides feature to display this feedback during load as I do not use it.

    For example your pasted code above.

    I can spot 1 error straight away which will stop program data from loading in:

    - i.PROGRAM a_prova03()

    - This is incorrect and should be .PROGRAM a_prova03().

    This error will stop your program data from loading, BUT allow TRANS data to load.

    - Your code as pasted produces a successful load of only the TRANS data.......No asterisks.

    - Program data will not load due incorrect syntax used creating 10 errors.

    For best results, you should use official Kawasaki application to ensure best checking for data preparation and side loading if you are programming offline.

    I know people out of preference use third party applications, but you need to appreciate these are not official applications and therefore may not be 100% compatible.

    It is important to understand AS syntax, program and data structure if you intend to offline program and side load using none Kawasaki applications.

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